Object tracking using a cognitive heterogeneous ad hoc mesh network

ABSTRACT

Embodiments described herein are directed to a tracking objects using a cognitive heterogeneous ad hoc mesh network. Participant objects transmit notification signals to inform other participant objects in line-of-sight of their position and movement. The participants also utilize echoes of the notification signals to detect and estimate the position and movement of non-participant objects. Participant objects can then share this positional information with one another to refine the estimated position and movement of non-participant objects. The position of each other participant and non-participant object is updated based on an individualized update rate that dynamically changes based on the distance and velocity of closure between the participant and the other participant or non-participant object.

BACKGROUND Technical Field

The present disclosure relates generally to information distributionnetworks and, more particularly, to utilizing mobile and stationarycommunication devices to create a multi-layered mesh network for safetyand data transmission.

Description of the Related Art

Mobile communication devices have become a very integral part in manypeople's lives, and the number of mobile communication devices in usecontinues to grow. Today, mobile communication devices are very powerfulcomputers that are connected via various different networks, data paths,and protocols. Yet most mobile communication devices rely on stationarycellular or wireless access points or satellite transmissions toconnected to a particular network, which can limit access, increaselatency, or decrease bandwidth based on the network layout, the numberof users on a particular network, a user's location, and other factors.It is with respect to these and other considerations that the followingdisclosure addresses.

BRIEF SUMMARY

Briefly stated, embodiments described herein are directed to trackingobjects using data communication from a cognitive heterogeneous ad hocmesh network. Participant objects transmit notification signals toinform other participant objects in line-of-sight of their position andmovement. The participants also utilize echoes of the notificationsignals to detect and estimate the position and movement ofnon-participant objects. Participant objects can then share thispositional information with one another to refine the estimated positionand movement of non-participant objects. The position of each otherparticipant and non-participant object is updated based on anindividualized update rate that dynamically changes based on thedistance and velocity of closure between the participant and the otherparticipant or non-participant object.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS

Non-limiting and non-exhaustive embodiments are described with referenceto the following drawings. In the drawings, like reference numeralsrefer to like parts throughout the various figures unless otherwisespecified.

For a better understanding of the present invention, reference will bemade to the following Detailed Description, which is to be read inassociation with the accompanying drawings:

FIGS. 1A-1C illustrate context diagrams of an environment forestablishing a cognitive heterogeneous ad hoc mesh network in accordancewith embodiments described herein;

FIGS. 2A-2C illustrate block diagrams of the different layers of thecognitive heterogeneous ad hoc mesh network in accordance withembodiments described herein;

FIG. 3 illustrates a context diagram of an example scenario for usingthe safety layer of the cognitive heterogeneous ad hoc mesh network inaccordance with embodiments described herein;

FIGS. 4A-4E illustrate context diagrams of using non-directionalsignaling and scanning to track an object in the safety layer inaccordance with embodiments described herein;

FIGS. 5A-5G illustrate context diagrams of using directional signalingand scanning to track an object in the safety layer in accordance withembodiments described herein;

FIG. 6 illustrates a logical flow diagram showing one embodiment of anoverview process for dynamically establishing and adjusting a safety netto track objects in accordance with embodiments described herein;

FIG. 7 illustrates a logical flow diagram showing one embodiment of aprocess for identifying participant and non-participant objects in thesafety net in accordance with embodiments described herein;

FIG. 8 illustrates a logical flow diagram showing one embodiment of aprocess for dynamically modifying an accuracy of atracked-non-participant object in the safety net in accordance withembodiments described herein;

FIG. 9 illustrates a logical flow diagram showing one embodiment of aprocess for dynamically modifying the tracking update of anon-participant object in accordance with embodiments described herein;

FIG. 10 illustrates a logical flow diagram showing one embodiment of aprocess for increasing an update rate in accordance with embodimentsdescribed herein;

FIG. 11 shows a system diagram that describes one implementation ofcomputing systems for implementing embodiments described herein.

DETAILED DESCRIPTION

The following description, along with the accompanying drawings, setsforth certain specific details in order to provide a thoroughunderstanding of various disclosed embodiments. However, one skilled inthe relevant art will recognize that the disclosed embodiments may bepracticed in various combinations, without one or more of these specificdetails, or with other methods, components, devices, materials, etc. Inother instances, well-known structures or components that are associatedwith the environment of the present disclosure, including but notlimited to the communication systems and networks, have not been shownor described in order to avoid unnecessarily obscuring descriptions ofthe embodiments. Additionally, the various embodiments may be methods,systems, media, or devices. Accordingly, the various embodiments may beentirely hardware embodiments, entirely software embodiments, orembodiments combining software and hardware aspects.

Throughout the specification, claims, and drawings, the following termstake the meaning explicitly associated herein, unless the contextclearly dictates otherwise. The term “herein” refers to thespecification, claims, and drawings associated with the currentapplication. The phrases “in one embodiment,” “in another embodiment,”“in various embodiments,” “in some embodiments,” “in other embodiments,”and other variations thereof refer to one or more features, structures,functions, limitations, or characteristics of the present disclosure,and are not limited to the same or different embodiments unless thecontext clearly dictates otherwise. As used herein, the term “or” is aninclusive “or” operator, and is equivalent to the phrases “A or B, orboth” or “A or B or C, or any combination thereof,” and lists withadditional elements are similarly treated. The term “based on” is notexclusive and allows for being based on additional features, functions,aspects, or limitations not described, unless the context clearlydictates otherwise. In addition, throughout the specification, themeaning of “a,” “an,” and “the” include singular and plural references.

As referred to herein, an “object” is a physical thing or item. Examplesof objects include, but are not limited to, cars, planes, trains, boats,people, buildings, or other mobile or stationary things. Objects includeparticipant objects and non-participant objects, which can be mobile orstationary. As referred to herein, a “participant” is an object thatincludes a computing device that can communicate specific, predeterminedtypes of information and data to other participant objects vialine-of-sight communications. And as referred to herein, a“non-participant” is an object that does not include a computing devicethat can communicate the same specific, predetermined types ofinformation and data with a participant object. As discussed in moredetail herein, participants can be mobile or stationary and may includecomputing devices of different sizes having different computing ornetworking capabilities. Throughout this disclosure, the term“participant” is used interchangeably with “participant object” and“participant computing device” and other related variations, and theterm “non-participant” is used interchangeably with “non-participantobject” and other related variations.

As referred to herein, “line-of-sight communication” refers to wirelesstransmission of information from a participant to another participantwithout other retransmission devices. Accordingly, line-of-sight is themaximum range one participant can communicate wirelessly with anotherparticipant without significant data lose. Examples of wirelesstransmissions used in line-of-sight communications include Bluetooth,WiFi, ADSB, TCAS, or other protocols now known or developed in thefuture. In some embodiments, all communications between participantsutilize a common protocol.

FIGS. 1A-1C illustrate context diagrams of an environment forestablishing a cognitive heterogeneous ad hoc mesh network in accordancewith embodiments described herein. Environment 100A in FIG. 1A includesa plurality of mobile participants (referenced in other figures asmobile participants 32), a plurality of stationary participants(referenced in other figures as stationary participants 34), and aplurality of non-participants 28. As mentioned above, the stationaryparticipants and the mobile participants can communicate specific typesof information or data with one another, but cannot communicate the sametypes of information with the non-participants 28 a-28 b, which isdescribed in more detail below.

The plurality of mobile participants includes tier 1 mobile participants22, tier 2 mobile participants 24, and tier 3 mobile participants 26.The three tiers of mobile participants are generally separated by thecomputing and networking capabilities of the computing devicesassociated with the mobile participant. The computing and networkingcapabilities may be limited or determined by the amount of poweravailable or utilized by a mobile computing device, the amount ofprocessing power available, the size or type or accuracy of the antennautilized, etc.

For example, tier 1 mobile participants 22 typically have the smallestavailable power, lowest processing power, lowest bandwidth, shortestranged antenna, lowest power output, lowest accuracy, and slowest updaterate. Examples of tier 1 mobile participants 22 include, but are notlimited to, mobile phones, laptop computers, tablet computers, wearablecomputing devices, or other smaller, low power, low transmission mobilecomputing or Internet-Of-Things devices. In the example illustrated inFIG. 1A, there is only a single tier 1 mobile participant 22, whichhappens to be a mobile phone in this example. However, other numbers andtypes of tier 1 mobile participants 22 may also be employed.

Tier 2 mobile participants 24 typically have medium power constraints, amedium amount of processing power, medium bandwidth, medium rangecapabilities, medium accuracy, and medium update rate. Examples of tier2 mobile participants 24 include, but are not limited to, automobiles,small personal boats, personal aircrafts, or other medium power, mediumtransmission, power regenerating mobile computing devices or objectsthat can support such mobile computing devices. FIG. 1A illustratesexample tier 2 mobile participants 24 as including automobiles 24 a and24 b. However, other numbers and types of tier 2 mobile participants 24may also be employed.

Tier 3 mobile participants 26 typically have the largest availablepower, highest processing power, highest bandwidth, longest transmit andreceive capabilities, highest accuracy, and fastest update rate amongmobile participant computing devices. Example tier 3 mobile participants26 include, but are not limited to, commercial airline planes,semi-trucks, cargo ships, trains, or other objects that can supportlarger, high power, high transmission mobile computing devices orobjects that can support such mobile computing devices. FIG. 1Aillustrates example tier 3 mobile participants 26 as including boat 26a, train 26 b, and airplanes 26 c and 26 d. However, other numbers andtypes of tier 3 mobile participants 26 may also be employed.

The plurality of stationary participants includes ground entry points14, remote entry points 16, and access nodes 18. Similar to the threetiers of mobile participants, the ground entry points 14, remote entrypoints 16, and access nodes 18 are generally separated by computing andnetworking capabilities, and footprint size in some embodiments.

For example, ground entry points 14 typically have the largest availablepower, highest processing power, highest bandwidth, and longest rangeantenna capabilities. Example locations of ground entry points 14include, but are not limited to, cellular towers, airports, large retailor superstores, or other locations that can support large sized, highpower, high transmission stationary computing devices. FIG. 1Aillustrates example ground entry points 14 as including tower antenna 14a and superstore 14 b. However, other numbers and types of ground entrypoints 14 may also be employed.

Remote entry points 16 typically have medium power constraints, a mediumamount of processing power, medium bandwidth, and medium rangecapabilities. Example locations of remote entry points 16 include, butare not limited to, restaurants and coffee shops, airfields and trainstations, satellites, or other locations that can support medium sized,medium power, medium transmission stationary computing devices. FIG. 1Aillustrates example remote entry points 16 as including store antenna 16a and satellite 16 b. However, other numbers and types of remote entrypoints 16 may also be employed.

Access nodes 18 typically have the smallest available power, lowestprocessing power, lowest bandwidth, and shortest range antennacapabilities of the stationary participants. Example locations of accessnodes 18 include, but are not limited to, road intersections, traincrossings, road signs, mile markers, crosswalks, or other locations thatcan support smaller, low power, low transmission stationary computingdevices. In the example illustrated in FIG. 1A, there is only a singleaccess node 18, which happens to be a road sign in this example.However, other numbers and types of access nodes 18 may also beemployed.

As described in greater detail below, the mobile and stationaryparticipants communicate with one another to pass information from oneparticipant to another and to detect and track non-participant objects28, which is further illustrated in FIG. 1B.

Environment 100B in FIG. 1B provides additional details regardingenvironment 100A in FIG. 1A, and likewise includes a plurality of mobileparticipants, a plurality of stationary participants, and a plurality ofnon-participants. In this example, participant mobile device 22 isattempting to communicate with participant train 26 b. If mobile device22 is within line-of-sight of train 26 b, then the two participantscould communicate directly with one another.

But if mobile device 22 cannot directly communicate with train 26 b,they will communicate with each other via other participants. Forexample, mobile device 22 determines that participant automobile 24 a iswithin line-of-sight of mobile device 22. As a result, mobile device 22sends messages destined for train 26 b to automobile 24 a viacommunication link 25. Automobile 24 a then identifies anotherparticipant to forward the messages. In this example, automobile 24 aforwards the messages to participant airplane 26 c via communicationlink 27. Airplane 26 c performs similar actions and forwards themessages to participant airplane 26 d via communication link 29, whichalso performs similar actions to forwards the messages to superstore 14b via communication link 31. Superstore 14 b identifies that it candirectly communicate with train 26 b and proceeds to forward themessages originally from mobile device 22 to train 26 b viacommunication link 32. The communication links 25, 27, 29, 31, and 33are line-of-sight communication transmissions from one participantcomputing device to another. As described elsewhere herein, thesetransmissions may be broadcast transmissions or they may be directionaltransmissions.

Each participant can select another participant through which it canforward messages based on various different criteria. For example, insome embodiments, mobile device 22 can select a nearest line-of-sightparticipant device through which it can forward messages. In otherembodiments, mobile device 22 can select a furthest line-of-sightparticipant with which it can directly communicate, as described in moredetail below. In yet other embodiments, mobile device 22 can select aparticipant based on other factors, such as signal quality, expectedbandwidth, reliability, or other factors that can impact wirelesstransmissions. In some other embodiments, mobile device 22 can select aparticipant based on how few “hops” are used to get to a stationaryparticipant, which is further discussed below in conjunction with FIG.1C.

By having the participants communicate with one another vialine-of-sight communications, messages can be passed betweenparticipants without the need for a complex stationary infrastructure,such as shown in FIG. 1B. As mentioned above, the system 100 may includestationary participants, but these participants can communicate withother participants without the need for specialty hardware for differentcellular carriers or networks, rather it can rely on commonline-of-sight wireless protocols, such as Wi-Fi technology under theIEEE 802.11 standards, as well as ad hoc protocols now known ordeveloped in the future.

Environment 100C in FIG. 1C is an embodiment of environment 100B in FIG.1B. Similar to what is described above with respect to FIG. 1B,participant mobile device 22 is attempting to communicate withparticipant train 26 b. However, rather than utilizing onlyline-of-sight communication links, as discussed above in conjunctionwith FIG. 1B, each participant along the route may try to forward themessages to a stationary participant to gain efficiency. Sincestationary participants can forward messages to other stationaryparticipants via wired technology, they can handle additional bandwidthand forward messages with more reliability compared to onlyline-of-sight communication. Moreover, transmissions between stationaryparticipants can greatly reduce the number of hops from the originalsending participant to destination participant, which can improvelatency issues and reduce the possibility of lost or missing data.

For example, if mobile device 22 can directly communicate with astationary participant, such as stationary antenna 14 a, then mobiledevice 22 can transmit messages directly to the stationary antenna 14 awithout forwarding them through another mobile participant. In thisillustrative example, however, mobile device 22 cannot directlycommunicate with a stationary participant. Accordingly, mobile device 22selects a mobile participant that has the potential to get messages to astationary participant with the fewest number of hops between mobileparticipants, such as boat 26 a.

Once selected, mobile device 22 sends the messages destined for train 26b to boat 26 a via communication link 35. Boat 26 a determines that iscan communicate directly with a stationary participant, tower antenna 14a, and forwards the messages directly to tower antenna 14 a viacommunication link 37. As mentioned herein, stationary participants cancommunicate with one another via wired or wireless communicationnetworks, such as the Internet, which can improve speed and reliabilityfor getting messages from one participant to another. Accordingly, towerantenna 14 a selects another stationary participant that is closest tothe destination train 26 b for which to forward the messages.

In various embodiments, a network operation center server (notillustrated) maintains a list of each stationary participant and thecorresponding mobile participants that are in line-of-sight of eachstationary participant. Since it is possible that all mobileparticipants will be in line-of-sight of a stationary participant, insome embodiments, the network operation center server may also maintaina list of the mobile participants that are within a predeterminedthreshold number of hops away from each stationary participant. In yetother embodiments, each mobile participant periodically, atpredetermined times, or within range of a stationary participant reportsits position to the network operation center server. The networkoperation center server can then maintain a list of each mobileparticipant's position, which can be used to determine the closeststationary participant.

In this illustrated example, tower antenna 14 a determines that storeantenna 16 a is the closest stationary participant to the train 26 b. Ifstore antenna 16 a has a direct line-of-sight communication link withtrain 26 b, then it forwards the messages to train 26 b viacommunication link 39. If store antenna 16 a does not have a directline-of-sight communication link with train 26 b, then it forwards themessages to another participant, which continues to forward the messagesto other participants until they reach train 26 b.

In various embodiments, each participant device determines whether it ismore efficient to forward messages to another mobile participant or toforward it to a stationary participant. Such efficiency may bedetermined based on overall time to reach the destination participant,number of participant devices involved in forwarding the messages to thedestination participant, or other factors.

The overarching cognitive heterogeneous ad hoc mesh network created bythe mobile and stationary participants described above in conjunctionwith FIGS. 1A-1C provides a backbone for a multi-layered network thatenables one participant to communicate with another participant, whilealso providing safety measures to avoid collisions among participantsand non-participants.

FIGS. 2A-2C illustrate block diagrams of the different layers of thecognitive heterogeneous ad hoc mesh network in accordance withembodiments described herein. FIG. 2A illustrates a block diagram of thesafety, or lowest layer, of this multi-layered safety and communicationnetwork.

Example 200A in FIG. 2A includes multiple mobile participants 32 a-32 c.Although FIG. 2A only illustrates three mobile participants, embodimentsare not so limited and one or a plurality of mobile participants may beemployed. Moreover, the mobile participants 32 a-32 c may include tier 1mobile participants, tier 2 mobile participants, tier 3 mobileparticipants, or some combination thereof.

Each mobile participant 32 a-32 c transmits radio frequency signals tobe received by other mobile participants 32 that are withinline-of-sight of the sending mobile participant 32. These signalsinclude, but are not limited to (1) data signals that transmit messagesor data to another participant and (2) notification signals that providepersonalized information regarding the sending mobile participant. Insome embodiments, the notification signals can include one or both ofnotification signals for networking and routing among participants andnotification signals for safety and de-confliction of possible threats.

In various embodiments, both data signals and notification signals aretransmitted via directional beams. For example, data signals aredirectionally focused towards the recipient participant (based on theposition of the sending participant and the position of the recipientparticipant, which may be determined by receiving notification signalsfrom the recipient participant). The use of directional transmissionscan reduce power consumption and increase the range in whichtransmission can be received, while also reducing interference betweentransmissions in a congested space.

Similarly, notification signals are directionally focused, but aretransmitted in a sequential or non-sequential 360-degree pattern. Invarious other embodiments, the data or notification signals may also betransmitted using non-directional broadcast signals.

The data signals are used to transmit messages or data to otherparticipants, which is described in more detail below in conjunctionwith FIG. 2B. Briefly, the various communications between the mobileparticipants 32 a-32 c creates a communication network 33 among eachother that enable them to communicate with one another without the useof another communication backbone, such as a cellular tower network. Thenotification signals provide individualized information regarding thesending mobile participant. In various embodiments, these notificationsignals may be referred to as self-reporting signals, since the mobileparticipant is independently reporting its position and kinematicinformation to any other mobile participants that are withinline-of-sight of the transmitting mobile participant without beingprompted or requested by another mobile (or stationary) participant.

The notification signals serve three primary simultaneous purposes: (1)to notify other participants of the sending participant's identity,position, and kinematic information; (2) to detect and tracknon-participant objects 28; and (3) to establish routing and networkefficiencies. Accordingly, a mobile participant does not need to useseparate sensors to detect and track non-participants while also sendingseparate signals to notify other participants of the sendingparticipant's identity and location—a single type of notification signalis used for both. In other words, embodiments described herein use datatransmission signals that provide information to other participants toidentify and track non-participant objects.

In various embodiments, the data in the notification signal includes themobile participant's identification information, geolocation, kinematicinformation, throughput capabilities, frequency capabilities, and otherinformation. In various embodiments, the notification signals alsoinclude transmission time information that allows for Time Distance ofArrival (TDOA) and Time of Flight (TOF) or Round Trip Timing (RTT)calculations.

The geolocation of the mobile participant may be determined viatraditional methods like GPS sensors or modules, cell tower orstationary participant signal triangulation, or via notificationmessages from other devices or participants that know or estimate theposition or location of the mobile participant. This can be accomplishedwith extreme accuracy and minimal latency when notification messages areechoed and supported by stationary participants. The geolocation mayalso be referred to as the position or location of the mobileparticipant.

The kinematic information may be obtained by monitoring the mobileparticipant's position and identifying changes over time, utilizingvarious sensors to calculate or determine the kinematic information, orobtaining it from another system. For example, in some embodiments,where the mobile participant is an automobile, the kinematicinformation, such as speed or braking status, may be obtained from thevehicle computing system via the CAN bus.

The frequency capabilities may be predetermined based on the type ofhardware utilized by the mobile participant. For example, the hardwareof the mobile participant may be designed to utilize IEEE 802.11p orIEEE 802.11ac, or some other wireless transmission frequencies orstandards, which defines the frequency capabilities of the mobileparticipant. In other embodiments, the frequency capabilities may bepredetermined based on government regulations regarding availablefrequencies. In yet other embodiments, the frequency capabilities may bedefined by a user or administrator.

The throughput may be predetermined based on the type of hardwareutilized by the mobile participant or on the current processing capacityor network traffic of the mobile participant or a number of otherfactors. For example, if the mobile participant is a smart phone that isstreaming a movie for the user, then it may have a reduced bandwidth orthroughput compared to a mobile participant that is a car that is nottransmitting or receiving additional wireless data.

The notification signal may be broadcast (i.e., transmitted withoutbeing requested by another participant) periodically, at predeterminedtimes, dynamically selected based on number and proximity of othermobile participants or non-participants, or at a given dynamicallychanging update rate. As discussed in more detail below, the rate atwhich the mobile participant updates the position of another participantor non-participant object changes based on a combination of the distanceand closure velocity between the sending mobile participant and theother object, which can adjust how often the mobile participanttransmits the notification signal.

Although described as a separate dedicated notification signal, at leastsome of the information in the notification signal may be included insome or all transmissions from the mobile participant. For example, inother embodiments, the header of one or more messages or transmissionssent from the mobile participant may include the identity, geolocation,and kinematic information of the mobile participant, along with theother data or information that is being transmitted.

As indicated above, the non-participants 28 can be people, cars,buildings, trees, or other objects that cannot provide the samenotification signals or information contained therein to mobileparticipants 32 a-32 c. As a result, the mobile participants 32 a-32 care not provided any advance notice or information regarding thepositioning and movement of the non-participants 28.

As mentioned above, the mobile participants 32 a-32 c broadcastnotification signals to inform other mobile participants of theirposition and movement. For example, mobile participant 32 a broadcastsnotification signals with information identifying itself and itsrespective geolocation and kinematic information without regard to thepresence or location of mobile participants 32 b or 32 c. If mobileparticipant 32 c is within line-of-sight of mobile participant 32 a,mobile participant 32 c receives the broadcasted notification signalsfrom mobile participant 32 a and utilizes the information in thenotification signals, and its own location and kinematic information, toidentify the position and movement of mobile participant 32 a relativeto itself.

From this information, the mobile participant 32 c determines if mobileparticipant 32 a poses a threat to mobile participant 32 c, i.e., will,or how likely is it that mobile participant 32 a will, collide orinterfere with mobile participant 32 c. If mobile participant 32 cdetermines that mobile participant 32 a poses a threat to mobileparticipant 32 c, then mobile participant 32 c can take evasivemaneuvers, or notify a user to take evasive maneuvers, to reduce orremove the threat. This type of collision detection and avoidance may bereferred to as mobile participant 32 c deconflicting mobile participant32 a. If mobile participant 32 a is not, or is no longer, a threat tomobile participant 32 c, then mobile participant 32 a has beendeconflicted relative to mobile participant 32 c.

Mobile participant 32 b likewise broadcasts notification signals thatare received by mobile participant 32 c, assuming that mobileparticipant 32 c is within line-of-sight with mobile participant 32 b.Mobile participant 32 c performs similar actions to determine theposition of mobile participant 32 b and whether mobile participant 32 bposes a threat to mobile participant 32 c, such as to deconflict mobileparticipant 32 b relative to mobile participant 32 c. Mobile participant32 a performs similar actions to identify and track mobile participants32 b and 32 c, and mobile participant 32 b performs similar actions toidentify and track mobile participants 32 a and 32 c.

The mobile participants 32 a-32 c also utilize the notification signalsto detect and track non-participants 28, which is discussed in moredetail below in conjunction with FIGS. 4A-4E and 5A-5G. As a briefexample, however, mobile participant 32 c broadcasts the notificationsignal to those participants that are in line-of-sight. If there is anon-participant object 28 in line-of-sight of the mobile participant 32c, then the notification signal will bounce off the non-participantobject 28 and mobile participants 32 a-32 c can receive the echoednotification signal. The mobile participant can determine that it is anecho notification signal rather than a notification signal from anotherparticipant because of the mobile participant's 32 c unique identifier,location, and time stamp in the notification signal. Using the time offlight (e.g., by utilizing timestamps in the echoed notification signal)and the direction of reception of the echoed notification signal, themobile participant 32 c can determine the relative location of thenon-participant 28. Moreover, the mobile participants can determine thistype of information over time and use it, along with their own positionand movement, to determine an approximated movement of thenon-participant 28.

Although not illustrated, stationary participants may also performsimilar actions as described above to identify and track mobileparticipants that are in line-of-sight of the stationary participant orto track non-participants that are in line-of-sight of the stationaryparticipant.

As described above, the mobile participants 32 a-32 c transmitnotification signals to each other to identify and track other mobileparticipants that are in line-of-sight, as well as to tracknon-participants that are in line-of-sight of the transmitting mobileparticipant. The mobile participants can also communicate data orinformation amongst themselves to increase accuracy and efficiency ofeach participant.

FIG. 2B illustrates a block diagram of the communication or middle layerof the multi-layered safety and communication network. Example 200B inFIG. 2B includes mobile participants 32 and stationary participants 34.The mobile participants 32 include one or more tier 1 mobileparticipants 22, one or more tier 2 mobile participants 24, one or moretier 3 mobile participants, or some combination thereof. The stationaryparticipants 34 include one or more ground entry points 14, one or moreremote entry points 16, one or more access nodes 18, or some combinationthereof.

Each mobile participant 32 can communicate with other mobileparticipants 32 that are within line-of-sight of the sending mobileparticipant. Accordingly, tier 1 mobile participants 22 may transmitdata to or receive data from other tier 1 mobile participants 22, tier 2mobile participants 24, or tier 3 mobile participants 26; tier 2 mobileparticipants 24 may transmit data to or receive data from other tier 2mobile participants 24, tier 1 mobile participants 22, or tier 3 mobileparticipants 26; and tier 3 mobile participants 26 may transmit data toor receive data from other tier 3 mobile participants 26, tier 1 mobileparticipants 22, or tier 2 mobile participants 24.

Moreover, each mobile participant 32 can transmit data to or receivedata from stationary participants 34 via line-of-sight communications.Accordingly, tier 1 mobile participants 22 may transmit data to orreceive data from ground entry points 14, remote entry points 16, oraccess nodes 18; tier 2 mobile participants 24 may transmit data to orreceive data from ground entry points 14, remote entry points 16, oraccess nodes 18; and tier 3 mobile participants 26 may transmit data toor receive data from ground entry points 14, remote entry points 16, oraccess nodes 18.

Similarly, stationary participants 34 can transmit data to or receivedata from other stationary participants 34 via line-of-sightcommunications or via wired communications. Accordingly, ground entrypoints 14 may transmit data to or receive data from other ground entrypoints 14, remote entry points 16, or access nodes 18; remote entrypoints 16 may transmit data to or receive data from other remote entrypoints 16, ground entry points 14, or access nodes 18; and access nodes18 may transmit data to or receive data from other access nodes 18,ground entry points 14, or remote entry points 16.

Although FIG. 2B illustrates three tier 1 mobile participants 22, threetier 2 mobile participants 24, three tier 3 mobile participants 26,three ground entry points 14, three remote entry points 16, and threeaccess nodes 18, embodiments are not so limited and embodiments mayinclude more or fewer mobile participants 32 or more or fewer stationaryparticipants 34 than what is illustrated.

The messages or information contained in the data transmissions may haveoriginated by the sending participant or it may have originated byanother computing device and is now being forwarded by the sendingparticipant. In some embodiments, the data may originate at oneparticipant and be destined for another participant. In otherembodiments, the data may originate at a non-participant computingdevice (e.g., content servers, web servers, remote networks, etc.) andbe destined for a participant. In yet other embodiments, the data mayoriginate at one participant and be destined for a non-participantcomputing device.

If the sending participant is within line-of-sight to a destinationparticipant, then the originating participant sends the message or datadirectly to the destination participant. But if the sending participantis not within line-of-sight to the destination computing device, thenthe sending participant transmits the message or data to anotherparticipant who can continue to forward the message or data toward thedestination computing device, which may include one or more “hops”between mobile or stationary participants.

In some embodiments, the data signals may be transmitted whenever theparticipant has data to be sent and has bandwidth or computing power totransmit the data. In other embodiments, the data may be buffered for aperiod of time until it can be successfully transmitted from the sendingparticipant to another mobile or stationary participant.

In various embodiments, the participants may use one of variousdifferent frequencies to transmit data signals to other participants. Insome embodiments, participants scan the entire spectrum or spectrumsthey are physically able, and legally allowed, to transmit within. Eachparticipant determines based on real-time and historical data whatfrequencies are available and the length of transmission that can betransmitted without interference on each frequency, as well as whattransmitters are available on the participant. In some embodiments, theparticipants may utilize Dynamic Spectrum Access (DSA) to use multiplefrequencies for a single transmission to make full use of the availablespectrum.

In various embodiments, each participant determines a Quality of Service(QOS) and Signal to Noise Ratio (SNR) between it and each otherparticipant in line-of-sight of that participant, as well as availablefrequencies to the receiving participant. The participant then assessesthe data it needs to transfer and chooses the most efficient frequencywith a high QOS and SNR on which to transmit. Moreover, participants mayutilize additional information to select what frequencies to transmitdata. For example, if a participant is in a thunderstorm, it selectsfrequencies that are more suitable for use in inclement weather.

The participant can cross reference the throughput and frequencyabilities of the other participants to determine the path and frequencyon which to send the data. Once that is determined, the participant canroute the data and amplify the signal based on the frequency, distanceto the chosen participant, and any known interference values it mayhave.

In some embodiments, each participant utilizes protocols to establishtransmit priorities based on the participant's role at any given moment.For example, an aircraft prioritizes safety of flight information first,then ATC communications, navigation, identification, headquartercommunication, then Internet/entertainment connectivity. A cell phone,depending on environment, may act in different ways. For example, athome, it may prioritize WiFi frequencies and prioritize voicecommunications, then text, then Internet, then email. However, when thecell phone is in a car traveling down the road, the cell phone can useits gyrometers and accelerometers to detect that you are in a vehicleand set the priorities for V2X (vehicle tovehicle/Infrastructure/Pedestrians/other transportation) above voice,text and Internet data exchanges. In contrast, if the cell phone is in abus or train it may not transmit V2X information.

As mentioned above with respect to FIGS. 2A and 2B, the multi-layeredsafety and communication network allows each participant to track otherparticipants and non-participants that are local or proximal to theparticipant, while also tracking transmitted data among participants.The multi-layered safety and communication network also includes a toplayer that provides global tracking of participants andnon-participants, and data communication with non-participant computingdevices, which is illustrated in FIG. 2C.

FIG. 2C illustrates a block diagram of the highest layer of themulti-layered safety and communication network. Example 200C in FIG. 2Cincludes mobile participants 32, stationary participants 34, and networkoperation center server 40.

As discussed above, each mobile participant 32 self-reports its positionand kinematic information to other participants that are inline-of-sight with that mobile participant. If the receiving participantof that information is a stationary participant 34, then the stationaryparticipant transmits the mobile participant's position, and optionallyits kinematic information, to the network operation center server 40 viacommunication network 52. In some embodiments, the mobile participantsmay forward positional information of other mobile participants that arenot in line-of-sight of stationary participants to a stationaryparticipant for forwarding to the network operation center server 40.The stationary participants 34 may also report their position to networkoperation center server 40 via communication network 52, or anadministrator of the network operation center server 40 may input theposition of the stationary participants 34 into the network operationcenter server 40. In various embodiments, the participants can correctlocal positioning errors based on information from other near-byparticipants that have a known position. For example, if errors areconsistent, e.g., reports are all 200 meters higher than the actualaltitude, then that node can correct its position based on a correlationcheck with adjacent participants. These adjustments help to mitigatepositioning inaccuracies in the network.

As discussed above, the mobile participants 32 utilize theself-reporting notification signals to also detect and tracknon-participants 50. In some embodiments, the mobile participants 32also report the position and kinematic information of non-participants50 to the network operation center server 40 via stationary participants34 and optionally one or more other mobile participants 32.

The network operation center server 40 aggregates the positionalinformation of each mobile participant 32, stationary participant 34,and non-participant 50 to create a global picture of the location ofevery participant and non-participant that is in line-of-sight of aparticipant. In this way, each participant and non-participant can betracked, which allows for the network operation center server 40 toprovide additional safety information to mobile participants.

For example, assume a mobile participant is a car that is travellingdown the freeway. The car becomes involved in an accident and suddenlycomes to a complete stop. The car transmits the location of the car andthe sudden deceleration to a stationary participant (or to anothermobile participant that can forward the information towards a stationaryparticipant), which can provide the information to the network operationcenter server. The network operation center identifies those cars (i.e.,other mobile participants) that are behind the accident (based on theirpreviously transmitted geolocation and kinematic information) andtransmits information to the identified cars to automatically slow downfor the accident or to provide instructions to the driver to take analternate route.

In another example, the car that is involved in the accident may be anon-participant. A mobile participant traveling behind thenon-participant car can utilize embodiments described herein to detectthat the car has suddenly stopped. The mobile participant can thentransmit the location of the non-participant to other line-of-sightparticipants, which can ultimately be forwarded to the network operationcenter for additional safety processing.

In various embodiments, the participants may also provide additionalinformation to the network operation center server 40. For example, eachcorresponding participant may also provide a list of the otherparticipants that are in line-of-sight of that correspondingparticipant. This information can be used by the network operationcenter server 40 to determine the paths between participants in which totransmit data. In some embodiments, at least some of the functionsperformed by the network operation center server 40 may be performed byone or more stationary participants, e.g., ground entry points, or by atleast some of the mobile participants, e.g., tier 2 mobile participants24. In this way a ground entry point (or tier 2 mobile participant) cancreate a picture of the location of every participant that is within apredetermined distance of the ground entry point (or tier 2 mobileparticipant).

As mentioned above, mobile participants 32 may also send data to orreceive data from non-participant computing devices 54. Accordingly, themobile participants 32 communicate with stationary participants 34(either via line-of-sight communications or via one or more other mobileparticipants) to send and receive data to and from the non-participantcomputing devices 54 via communication network 52.

The communication network 52 may be any wired or wireless communicationnetwork that facilitates the transmission of information from stationaryparticipants 34 to network operation center server 40. In someembodiments, communication network 52 may be the Internet.

The multiple layers of the cognitive heterogeneous ad hoc mesh networkdescribed above in conjunction with FIGS. 2A-2C provide safety andcommunication among participants and non-participants.

As discussed above, the security layer of the cognitive heterogeneous adhoc mesh network utilized by participant objects allows participants tosend and receive notification signals to track other participant andnon-participant objects. FIG. 3 illustrates a context diagram of anexample scenario for using the safety layer of the cognitiveheterogeneous ad hoc mesh network in accordance with embodimentsdescribed herein.

Example 300 in FIG. 3 illustrates three automobiles, automobile 62,automobile 64, and automobile 66. Automobiles 62 and 66 are tier 2mobile participants and automobile 64 is a non-participant. Accordingly,automobiles 62 and 66 will be referred to as the first participant 62and the second participant 66, respectively, and automobile 64 will bereferred to as the non-participant 64. The dotted arrows on the roof ofeach automobile indicates the direction of travel of that automobile.

The first participant 62 knows the position of the second participant 66because the second participant 66 is periodically broadcastingnotification signals with its identity, geolocation, and kinematicinformation, which are received by the first participant 62. Similarly,the second participant 66 knows the position of the first participant 62because the first participant 62 is continually or periodicallybroadcasting notification signals with its identity, geolocation, andkinematic information, which are received by the second participant 66.

Since the non-participant 64 is a non-participant, it is nottransmitting its geolocation and kinematic information, and automobiles62 and 66 do not know where it is located. As a result, the firstparticipant 62 does not know if the non-participant 64 is in the correctlane at “Position A” or if it is crossing the center lane at “PositionB.” Without knowing the position of the non-participant 64, the firstparticipant 62 is unaware if the non-participant 64 poses a threat tothe first participant 62 or not.

As briefly discussed above, automobiles 62 and 66 can utilize echosignals from their notification signal transmissions to determine theposition of the non-participant 64. FIGS. 4A-4E and 5A-5G illustrateautomobiles using different mechanisms to transmit notification signalsand scan echo signals to determine the position of other automobiles.Although FIGS. 3, 4A-4E, and 5A-5E illustrate and are described usingautomobiles, similar embodiments are also employed for other types ofmobile participants.

FIGS. 4A-4E illustrate context diagrams of using non-directionalsignaling and scanning to track an object in the safety layer inaccordance with embodiments described herein. FIG. 4A illustrates thefirst participant 62 transmitting non-directional notification signal70. As shown, notification signal 70 propagates away from the firstparticipant 62 in 360 degrees.

When another object, such as the non-participant 64 is in line-of-sightof the notification signal 70, then the notification signal 70 bouncesoff the non-participant 64 and returns to the first participant 62 asecho signal 72, which is shown in FIG. 4B. The first participant 62calculates the approximate distance the non-participant 64 is away fromthe first participant 62 based on the time of flight from thetransmission of the notification signal 70 to the receipt of the echosignal 72. As mentioned elsewhere herein, the notification signal is adata signal that is sent to inform other participants of the firstparticipant's 62 position and movement. But utilizing embodimentsdescribed herein, the first participant 62 can also use the return echosignal to determine an approximate position 74 of the non-participant 64relative to the first participant 62.

In some situations, the approximate position 74 may be 360 degreesaround the first participant 62, 180 degrees, or some other receptionbeamwidth based on the reception antenna utilized or other calculation.For example, in some embodiments, the first participant 62 can narrowthe reception beamwidth of the approximate position 74 based on changesin the distance between the first participant 62 and the non-participant64 over time or utilizing other characteristics of the echo signal 72(e.g., using the Doppler effect). For ease of discussion, FIGS. 4B-4Edetermine 180 degree reception beamwidth for the approximate position ofthe non-participant 64.

In various embodiments, the girth 71 of the approximate position 74 ispredetermined based on the type of objects the first participant 62 mayencounter, such as other automobiles, or is set by an administrator. Inother embodiments, the girth 71 may dynamically change based on avariety of factors, such as the distance between the non-participant 64and the first participant 62, whether the first participant 62 and thenon-participant 64 are approaching each other or moving away, or somecombination thereof. For example, the faster the first participant 62 istraveling or the further away the non-participant 64 is from the firstparticipant 62, the greater the girth 71, whereas the slower the firstparticipant 62 is traveling or the closer the non-participant 64 is tothe first participant 62, the smaller the girth 71.

Similar to what is shown in FIG. 4B, FIG. 4C illustrates the secondparticipant 66 as transmitting notification signal 71 in a 360 degreebroadcast away from the second participant 66. The second participant 66receives echo signal 76 bouncing off the non-participant 64. The secondparticipant 66 calculates the approximate distance the non-participant64 is away from the second participant 66, which is used to determinethe approximate position 78 of the non-participant 64 relative to thesecond participant 66.

In various embodiments, the first participant 62 also determines theaccuracy of the approximate position 74 for the non-participant 64. Inone non-limiting example, the accuracy may be the area of theapproximate position 74, such that the larger the area, the lower theaccuracy, and the smaller the area, the higher the accuracy. If theaccuracy is not sufficiently high, e.g., it is below a predeterminedthreshold value, then the first participant 62 can request theapproximate position 78 from the second participant 66 to further refinethe approximate position of the non-participant 64, which is illustratedin FIG. 4D.

As shown in FIG. 4D, the first participant 62 sends a message vialine-of-sight communication 69 to the second participant 66 requestingany positioning information it has on the non-participant 64. The secondparticipant 66 responds to the request via line-of-sight communication69 with any positioning information it has on the non-participant 64. Invarious embodiments, the positional information provided by the secondparticipant 66 may include the approximate position 78 of the firstparticipant 62, the accuracy of the approximate position 78, kinematicinformation (e.g., directional information determined from multiplepositional updates), and any other information it has regarding theposition and movement of the non-participant 64.

The first participant 62 compares the approximate position 74 itcalculated with the approximate position 78 it received from the secondparticipant 66 to identify any areas of overlap between the twoapproximate positions. The overlapping area is a new approximateposition 80 of the non-participant 64. The first participant 62 alsodetermines the accuracy of the new approximate position 80. Moreover,the first participant 62 can combine any kinematic information it has onthe non-participant 64 with any kinematic information it received fromthe second participant 66 to determine updated kinematic information onthe non-participant 64.

In various embodiments, the first participant 62 transmits the newapproximate position 80 to the second participant 66 via theline-of-sight communication 69. In some embodiments, the firstparticipant 62 may also transmit the new accuracy of the new approximateposition 80 and other kinematic information regarding the movement ofthe non-participant 64 to the second participant 66 via theline-of-sight communication 69.

If the first participant 62 determines that the new approximate position80 is still not accurate enough, e.g., the accuracy is below apredetermined threshold, then the first participant 62 may send anotherrequest to the third participant 82 for additional positionalinformation, which is illustrated in FIG. 4E.

As shown in FIG. 4E, the first participant 62 sends a message vialine-of-sight communication 75 to the third participant 82 requestingany positioning information it has on the non-participant 64. Similar tothe second participant 66, the third participant 82 responds to therequest via line-of-sight communication 75 with an approximate position84 of the non-participant 64, the accuracy of the approximate position84, kinematic information (e.g., directional information determined frommultiple positional updates), and any other information it has regardingthe position and movement of the non-participant 64.

The first participant 62 compares the approximate position 74 that itcalculated with the approximate position 78 that it received from thesecond participant 66 and the approximate position 84 that it receivedfrom the third participant 82 to identify any areas of overlap betweenthe three approximate positions. The overlapping area is a newapproximate position 86 of the non-participant 64. In variousembodiments, the first participant 62 also determines the accuracy ofthe new approximate position 86 and updated kinematic information forthe non-participant 64 with any kinematic information it received fromthe second participant 66 and the third participant 82.

In various embodiments, the first participant 62 transmits the newapproximate position 80 to the second participant 66 via theline-of-sight communication 69 and to the third participant 82 via theline-of-sight communication 75. In some embodiments, the firstparticipant 62 broadcasts the new approximate position 80 of thenon-participant 64, which can be received by any other participantswithin line-of-sight of the first participant 62.

As illustrated by the sizes of the approximate position 74 in FIG. 4B,the new approximate position 80 in FIG. 4D, and the new approximateposition 86 in FIG. 4E, the approximate position of the non-participant64 becomes more accurate with more positional information shared amongautomobiles 62, 66, and 82.

In various embodiments, the first participant 62 can further refine thepositional information for the non-participant 64 by determining theposition of the non-participant 64 from different locations as the firstparticipant 62 moves. For example, the first participant 62 candetermine first positional information for the non-participant 64 at afirst time and at a first location. The first participant 62 can thendetermine second positional information for the non-participant 64 at asecond time and at a second location. The first participant 62 can thenuse the first positional information and the second positionalinformation, along with the first and second locations of the firstparticipant 62, to triangulate the position of the non-participant 64,just as if it received the second positional information from anotherparticipant, such as described above. This utilization of the first andsecond positional information captured by a single participant in motioncan be helpful in improving the accuracy in determining the position ofthe non-participant without having the benefit of getting additionalpositional information from another participant.

The first participant 62 can continue to update the position of thenon-participant 64 at a given update rate. That update changes based onhow close the non-participant 64 is to the first participant 62 and thevelocity of closure between the two automobiles. In various embodiments,the velocity of closure is determined based on changes in theapproximate position of the non-participant 64 over time. When the firstparticipant 62 updates the approximate position of the non-participant64, it broadcasts the updated approximate position to the otherautomobiles 66 and 82. Similar to what is described above, if theaccuracy of the updated approximate position is below a predeterminedthreshold value, then it can request additional positional informationfrom automobiles 66 and 82.

In some embodiments, one participant may handover positioning updates toanother participant depending on various factors. For example, if secondparticipant 66 can more accurately determine the position ofnon-participant 64, then first participant 62 may rely on positioningupdates of non-participant 64 from second participant 66. As anotherexample, if third participant 82 requires a higher update rate ofnon-participant 64, then first participant 62 may rely on positioningupdates of non-participant 64 from third participant 82. In yet anotherexample, second participant 66 and participant 82 may both provideupdates on non-participant 64 to first participant 62, which can furtherincrease the timeliness and fidelity of the estimated position andkinematics of non-participant 64. Other factors that may impact whichparticipant performs positioning updates may include a better systemwith higher functionality, a better calculation of the velocity ofclosure, etc.

Although FIGS. 4D and 4E describe the first participant 62 as firstrequesting positional information for the non-participant 64 from thesecond participant 66 and then subsequently requesting additionalpositional information from the third participant 82, embodiments arenot so limited. In some other embodiments, the first participant 62broadcasts a request that is received by each automobile that is inline-of-sight of the first participant 62. If an automobile thatreceives the request is near or has positional information on thenon-participant 64, then it transmits that information back to the firstparticipant 62 via line-of-sight communication; otherwise, it can ignorethe request.

As described above, FIGS. 4A-4E illustrate the use of omni-directionalbroadcasting of a notification signal to detect and tracknon-participant objects. However, embodiments are not so limited anddirectional transmissions of the notification signal may also be used.

FIGS. 5A-4G illustrate context diagrams of using directional signalingand scanning to track an object in the safety layer in accordance withembodiments described herein. FIG. 5A illustrates a first participant 90transmitting directional notification signals 92 a-92 d. As shown, eachnotification signal 92 is transmitted away from the first participant 90at a particular angle with a particular beamwidth. In variousembodiments, the first participant 90 waits a predetermined amount oftime for an echo signal before transmitting the next notification signal92 at the next angle. In other embodiments, the first participant 90 maycontinuously transmit the next notification signal at the next angle andutilize phased, frequency, and polarity shifts to allow for simultaneoustransmission of notification signals and reception of echo signals fromprevious notification signals. The beamwidths of the notificationsignals 92 may not overlap, e.g., as illustrated in FIG. 5A, or they maypartially overlap one another, such as illustrated in FIG. 5D.

In the illustrated example in FIG. 5A, the first participant 90transmits eight notification signals with 45 degree beamwidth to cover360 degrees around the first participant 90. In various embodiments, thefirst participant 90 transmits the notification signals 92 in asequential order. For example, notification signal 92 a is transmittedfirst, followed by notification signal 92 b, which is followed bynotification signal 92 c, and so on. A complete transmission cycleoccurs when all eight notification signals 92 have been transmitted. Acomplete transmission cycle is used to detect non-participant objectsthat come within the first participant's safety net and is used toupdate other participants of its position. Although FIG. 5A illustrateseight notification signals being used for a complete transmission cycle,other numbers of notification signals at other beamwidths may also beutilized.

In various embodiments, a complete transmission cycle is performed at agiven update rate, which may be predetermined or may dynamically change.For example, in some embodiments, the update rate may be faster whenthere are more participant or non-participant objects near the firstparticipant 90, compared to when there are few or no objects near thefirst participant 90. In other embodiments, the update rate may befaster when the first participant 90 is moving at a higher speedcompared to when the first participant 90 is moving at a slower speed.

In other embodiments, the first participant 90 maintains or utilizesindividual update rates to track each particular non-participant objectthat is in line-of-sight or in the safety net of the first participant90, which may be separate from the complete transmission cycle updaterate. For example, the complete transmission cycle update rate may beonce every five seconds, but the update rate for a particularnon-participant object may be once every second. This individualizedupdate rate dynamically changes based on the distance and velocity ofclosure between the first participant 90 and the tracked non-participantobject.

In various embodiments, the first participant 90 transmits thenotification signal 92 at an angle predicted by the last known positionand kinematics of the non-participant. For example, if thenon-participant object was last detected using notification signal 92 d,then the notification signal 92 d will again be used to update theposition of the non-participant object at the individualized update ratefor that object, unless the kinematic prediction falls within anotherbeamwidth. If the first participant 90 does not receive an echo signalfrom the notification signal 92 d, then it can immediately perform acomplete transmission cycle or it can wait until the next scheduledcomplete transmission cycle based on the update rate for the completetransmission cycle.

As discussed elsewhere herein, each participant transmits thenotification signal to detect non-participant objects and to updateother participants of its position. The first participant 90 may alsomaintain individualized update rates for each participant that is inline-of-sight of the first participant 90. However, since the firstparticipant 90 does not request the positional information from otherparticipants, it can utilize only the received notification signalsbased on the update rate, while ignoring every other notification signalfrom the other participant. For example, if another participant istransmitting notification signals once every second, but the firstparticipant 90 has an update rate of once every five seconds for theother participant, then it may utilize one of the five notificationsignals that it receives in a five second period while ignoring therest. Similar to the update rate for non-participant objects, the updaterate for other participants dynamically changes based on the distanceand the velocity of closure between the first participant and the otherparticipant.

Similar to what is discussed above in conjunction with FIG. 4B, anobject may come within line-of-sight of the first participant 90 whilethe first participant 90 is transmitting the directional notificationsignals 92, which is shown in FIG. 5B.

As shown in FIG. 5B, the notification signal 92 d bounces offnon-participant object 94 as echo signal 96. The first participant 90calculates the approximate distance the non-participant 94 is away fromthe first participant 90 based on the time of flight from thetransmission of the notification signal 92 d to the receipt of the echosignal 96. As mentioned elsewhere herein, the notification signal is adata signal that is sent to inform other participants of the firstparticipant's 90 position and movement. But utilizing embodimentsdescribed herein, the first participant 90 can also use the return echosignal 96 to determine an approximate position 98 of the non-participant64 relative to the first participant 62. In various embodiments, thegirth 97 of the approximate position 98 is determined similar to thegirth 71 described above for the approximate position 74 in FIG. 4B.

As mentioned above, in some embodiments, the beamwidth of thenotification signals may partially overlap, which is shown in FIGS.5C-5E. FIG. 5B illustrates a second participant 102 transmittingnotification signal 101 a away from the second participant 102. Thesecond participant 102 receives echo signal 103 bouncing off thenon-participant 94. The second participant 102 calculates theapproximate distance the non-participant 94 is away from the secondparticipant 102, which is used to determine the approximate position 105of the non-participant 94 relative to the second participant 102.

The second participant 102 then transmits another notification signal101 b whose beamwidth partially overlaps notification signal 101 a,which is shown in FIG. 5D. Again, the second participant 102 determinesan approximate position 107 of the non-participant 94 based on adistance calculated using the notification signal 101 b and its echosignal 104.

Since the non-participant 94 was detected using both notificationsignals 101 a and 101 b, the approximate position 105 determined fromnotification signal 101 a and the approximate position 107 determinedfrom notification signal 101 b can be compared to determine theoverlapping portion, which is illustrated in FIG. 5E. This overlappingportion is a refined approximate position 106 of the non-participant 94.

As discussed above, each participant 90 and 102 determines an accuracyof the approximate position 105 and 106, respectively. If the firstparticipant determines that its accuracy of approximate position 105 isbelow a threshold value, then the first participant 90 requestspositional and kinematic information of non-participant 94 from secondparticipant 102, which is shown in FIG. 5F. In this illustrated example,second participant 102 sends the approximate position 106 and any otherkinematic and accuracy information to first participant 90 vialine-of-sight communication 111. The participant 90 then compares theapproximate position 106 it received from second participant 102 withthe approximate position 98 that it determined to identify an updatedapproximate position 108 of the non-participant 94.

In various embodiments, the first participant 90 transmits the newapproximate position 108 to the second participant 102 via theline-of-sight communication 111. In some embodiments, the firstparticipant 90 may also transmit a new accuracy of the new approximateposition 108 and other kinematic information regarding the movement ofthe non-participant 94 to the second participant 102 via theline-of-sight communication 111.

If the first participant 90 determines that the approximate position 108is still not accurate enough, e.g., the accuracy is below apredetermined threshold, then the first participant 90 may send anotherrequest to a third participant 110 for additional positionalinformation, which is illustrated in FIG. 5G. In some embodiments, bothparticipants may increase their update rates or overlap beamwidths toincrease accuracy or currency of the approximate position 108 to ensuresafety among all participants and non-participants.

As shown in FIG. 5G, the first participant 90 sends a message vialine-of-sight communication 109 to the third participant 110 requestingany positioning information it has on the non-participant 94. Similar tothe second participant 102, the third participant 110 responds to therequest via line-of-sight communication 109 with an approximate position112 of the non-participant 94, the accuracy of the approximate position112, kinematic information (e.g., directional information determinedfrom multiple positional updates), and any other information it hasregarding the position and movement of the non-participant 112. Theapproximate position 112 may have been determined by the thirdparticipant 110 using a single notification signal, similar to the firstparticipant 90, or using multiple partially overlapping notificationsignals, similar to the second participant 102.

The first participant 90 compares the approximate position 98 that itcalculated with the approximate position 106 that it received from thesecond participant 102 and the approximate position 112 that it receivedfrom the third participant 110 to identify any areas of overlap betweenthe three approximate positions. The overlapping area is a newapproximate position 114 of the non-participant 94. In variousembodiments, the first participant 90 also determines the accuracy ofthe new approximate position 114 and updated kinematic information forthe non-participant 94 with any kinematic information it received fromthe second participant 102 and the third participant 110. In someembodiments, approximate positions 98, 106, or 112 or the newapproximate position 114 may be used to cue a narrower beamwidth, engageanother organic sensor, or request additional positioning informationfrom sensors of other participants depending on the accuracy of thedetermined position of the non-participant 94. This additionalpositional information can be used to further narrow or improve theaccuracy of the approximate position of the non-participant 94.

In various embodiments, the first participant 90 transmits the newapproximate position 114 to the second participant 104 via theline-of-sight communication 111 and to the third participant 110 via theline-of-sight communication 109. In some embodiments, the firstparticipant 90 broadcasts the new approximate position 114 of thenon-participant 94, which can be received by any other participantswithin line-of-sight of the first participant 90.

Similar to what is described above in conjunction with FIGS. 4A-4E, theaccuracy of the approximate position of the non-participant 94 improveswith additional positional information from other participants.Similarly, as illustrated by the sizes of the new approximate position114 in FIG. 5G and the new approximate position 86 in FIG. 4E, theapproximate position of the non-participant object is more accurateusing directional transmission of notification signals. The firstparticipant 90 can continue to update the position of thenon-participant 94 at a given update rate, as discussed elsewhereherein.

Although FIGS. 5F and 5G describe the first participant 90 as firstrequesting positional information for the non-participant 94 from thesecond participant 102 and then subsequently requesting additionalpositional information from the third participant 110, embodiments arenot so limited. In some other embodiments, the first participant 90broadcasts a request that is received by each automobile that is inline-of-sight of the first participant 90. If an automobile thatreceives the request is near or has positional information on thenon-participant 94, then it transmits that information back to the firstparticipant 90 via line-of-sight communication; otherwise, it can ignorethe request.

The operation of certain aspects will now be described with respect toFIGS. 6-9. In at least one of various embodiments, processes 600, 700,800, and 900 described in conjunction with FIGS. 6-9, respectively, maybe implemented by or executed on one or more computing devices, such asmobile participants 32.

FIG. 6 illustrates a logical flow diagram showing one embodiment of anoverview process for dynamically establishing and adjusting a safety netto track objects in accordance with embodiments described herein.Process 150 begins, after a start block, at block 154, where positionand kinematic information for the first participant is determined. Insome embodiments, the position of the first participant is determinedbased on GPS sensors, signal triangulation with cell towers orstationary participants, etc. In various embodiments, the kinematicinformation is determined by one or more sensors, determined by trackingthe position or geolocation of the first participant over time, orreceived from another system. The kinematic information identifies thespeed and direction of travel of the first participant.

Process 150 continues at block 156, where position and kinematicinformation of the other participant and non-participant objects inline-of-sight of the first participant are determined. As describedabove, each participant broadcasts notification signals with theiridentity, geolocation, and kinematic information. The first participantreceives these notification signals from other participants that are inline-of-sight of the first participant, which may include an area muchlarger than the safety net. The first participant determines theposition of the other participants relative to the first participantbased on a comparison of the geolocation information of the otherparticipants and the geolocation information of the first participant.

The first participant determines the position and kinematic informationof non-participants by transmitting its own notification signals anddetecting and tracking the non-participants via echo signals of thenotification signals off the non-participants, such as described abovein conjunction with FIGS. 4A-4E. In some embodiments, the firstparticipant may communicate with the other participants to narrow orrefine the position and kinematic information of non-participants, suchas described above in conjunction with FIGS. 5A-5G.

Process 150 proceeds next to block 158, where a safety net isestablished for the first participant based on other participant andnon-participant objects that pose a threat to the first participant. Thesafety net is considered to be an area surrounding the first participantthat includes objects that pose a threat to the first participant. Thesafety net may be a defined physical space or it may be defined by thoseobjects that pose a threat to the first participant.

For example, in some embodiments, where the safety net is a definedphysical space, the safety net may be in the form of virtually anyshape, such as, but not limited to, a uniform shape around the firstparticipant (e.g., a circle or sphere), a non-uniform shape (e.g., anoval or hourglass shape), or an area with no particular shape. As such,in some embodiments, the safety net is defined by one or more specificdistances away from the first participant. In other embodiments, thesafety net is defined by the nearest threshold number participant ornon-participant objects. The threshold number of objects may be definedby a user or may dynamically change based on the type of object. In oneexample, the size of the safety net is defined by the nearestnon-participant object. But in another example, the shape of the safetynext is defined by the three nearest objects.

In various embodiments, the shape and size of the safety net may beestablished based on the type or maneuverability of the firstparticipant, e.g., a car, a mobile phone, an airplane, etc. For example,if the first participant is a car, then the safety net may be a largerphysical space, compared to if the first participant is a mobile phone.In other embodiments, the safety net may be established based on themovement of the first participant. For example, if the first participantis not moving then the safety net may be in the shape of a circle, butif the first participant is traveling down a freeway, then the safetynet may be in the shape of an oval or hourglass.

In other embodiments, where the safety net is defined by those objectthat pose a threat to the first participant, the safety net may be alist of objects that pose a threat to the first participant. Forexample, the safety net may include those objects where a relationshipbetween their velocity of closure to the first participant and theirdistance from the first participant exceed a predetermined threshold,such as discussed below in FIG. 9.

In various embodiments, determining whether an object poses a threat tothe first participant, and thus used to define the safety net, may bebased on the type, maneuverability, or movement of the firstparticipant. For example, if the first participant is a car, then thethreshold for the relationship between for the velocity of closure andthe distance in determining if an object poses a threat may beincreased, compared to if the first participant is a mobile phone. Inanother example, if the first participant is not moving then thethreshold may be similar in all directions around the first participant.But if the first participant is traveling down a freeway, then thethreshold may be increased for object in front of the first participantand reduced for objects to the side or behind the first participant.

The above examples of the shape and size of the safety net are notlimiting, but rather an illustration of the different possible shapesand sizes of the safety net.

In various embodiments, information regarding other participants andnon-participants outside of the safety net may be ignored for purposesof safety. However, the positioning and kinematic information of otherparticipants outside the safety area may be utilized to transmit datacommunication to the other participants, as described elsewhere herein.

Process 150 continues next at decision block 160, where a determinationis made whether the other participant or non-participant objects pose athreat to the first participant. In various embodiments, the positionand kinematic information of the first participant is compared to theposition and kinematic information of the other participants andnon-participants to determine if another participant or non-participantposes a threat to the first participant.

In some embodiments, another participant or non-participant may pose athreat to the first participant if the other participant ornon-participant is within a predetermined distance from the firstparticipant. In other embodiments, the other participant ornon-participant may pose a threat to the first participant if the otherparticipant or non-participant is on a trajectory that may intersect thetrajectory of the first participant or come within a predetermineddistance from the first participant.

In yet other embodiments, another participant or non-participant objectmay pose a threat to the first participant if the other participant ornon-participant can change course and intercept the trajectory of thefirst participant within a predetermined closure time period. Forexample, assume the first participant is travelling at 60kilometers/hour and the other participant is traveling parallel to thefirst participant at a distance of 10 meters and at a speed of 100kilometers/hour. If the other participant alters course to intercept thefirst participant, then such an intersection could happen inapproximately 0.45 seconds (if the first participant does not altercourse or speed). If the predetermined closure time period is greaterthan or equal to 0.45 seconds, then the other participant poses a threatto the first participant, even though their current trajectories do notintercept and they are not within a predetermined distance from oneanother.

In various embodiments, the size, maneuverability, or type of the otherparticipant or non-participant objects, or the first participant, may betaken into account when determining if an object poses a threat to thefirst participant. For example, if the other participant is a schoolbus, then it will take the school bus a longer time to slow down ormaneuver compared to a small car. Thus, the school bus may pose a threatto the first participant at a greater distance from the firstparticipant than the small car.

In some embodiments, a likelihood-of-collision factor is determined foreach other participant and non-participant object in the safety net todetermine if it poses a threat to the first participant. Thelikelihood-of-collision factor may be determined based on the distance,rate of closure, angle of intercept, or a combination thereof, betweenthe other participant or non-participant objects and the firstparticipant. For example, the closer the object is to the firstparticipant, the higher the likelihood-of-collision factor. However, ifthe object is traveling away from the first participant then thelikelihood-of-collision factor may be lower. Again, the size,maneuverability, or type of the other participant or non-participantobjects, or the first participant, may increase or decrease thelikelihood-of-collision factor. The likelihood-of-collision factor canthen be compared to a threat threshold value to determine if the objectposes a threat to the first participant.

If another participant or non-participant object poses a threat to thefirst participant, then process 150 flows to block 162; otherwise,process 150 flows to decision block 164.

At block 162, a maneuver is performed to reduce the threat to the firstparticipant. In various embodiments, the maneuver is automaticallyperformed by the computing device of the first participant, such as byapplying the breaks or adjusting the speed or trajectory of the firstparticipant. In other embodiments, the maneuver may be an audible orvisual indicator that a user of the first participant should altercourse or speed.

The type of maneuver performed is based on the position and kinematicinformation of the object that poses the threat, the position andkinematic information of the first participant, and the position andkinematic information of other objects. Accordingly, the maneuver is ofa type to reduce the current threat without introducing additionalthreats by other objects. As mentioned above, a likelihood-of-collisionfactor is calculated to determine if an object poses a threat to thefirst participant. In some embodiments, this likelihood-of-collisionfactor may also be used to determine if and how drastic the maneuvershould be. For example, the higher the likelihood-of-occurrence factor,the more drastic the maneuver.

After block 162, or if the other participants or non-participants didnot pose a threat to the first participant at decision block 160,process 150 flows to decision block 164, where a determination is madewhether to adjust the safety net.

In some embodiments, the determination of whether to adjust the safetynet is based on whether there is a threat to the first participant. Forexample, if there is no threat to the first participant, then then sizeof the safety net may be increased. However, if there is a threat to thefirst participant, then the size of the safety net may be decreased toremove other participants or non-participants from the safety net thatdo not currently pose a threat to the first participant. In this way,the first participant can utilize additional computing resources totrack the object that poses a threat to the first participant.

In other embodiments, the size of the safety net may be modified basedon the number of objects in the safety net. For example, if the currentnumber of objects in the safety net exceeds a predetermined thresholdnumber, then the size of the safety net may be reduced. Or if all otherparticipants and non-participants have left the safety net, then thesize of the safety net may be increased.

If the safety net is to be adjusted, process 150 flows to block 166where the size of the safety net is modified; otherwise, process 150loops to block 154 to continue to monitor other participants andnon-participants in the safety net to determine if they pose a threat tothe first participant.

After block 166, process 150 loops to block 154 to continue to monitorother participants and non-participants in the safety net to determineif they pose a threat to the first participant.

FIG. 7 illustrates a logical flow diagram showing one embodiment of aprocess for identifying participant and non-participant objects in thesafety net in accordance with embodiments described herein. Process 180begins, after a start block, at block 182, where positional andkinematic information of the first participant is collected. Thepositional and kinematic information includes the geolocation, speed,and trajectory of the first participant. In various embodiments, block182 employs embodiments of block 154 of FIG. 6 to determine thepositional and kinematic information of the first participant.

Process 180 proceeds to block 184, where the first participantbroadcasts a signal with the first participant's position and kinematicinformation. As described elsewhere herein, the first participanttransmits a notification signal with its identity and its position andkinematic information.

Process 180 continues at block 186, where the first participant receivesan echo signal off an object. In various embodiments, the firstparticipant may include one or more radio antennas to receive the echosignal, which may be the same antennas that are used to receive similarnotification signals broadcast by other participants. In otherembodiments, the participant utilizes reverse polarity to enable asingle antenna to both transmit and receive signals.

Process 180 proceeds next to block 188, where characteristics of theecho signal are determined. The characteristics of the echo signal mayinclude a direction of receipt of the signal (angle of arrival), atime-of-flight value for the signal (e.g., by subtracting a transmissiontimestamp associated with the signal from the time of receipt), or othertypes of information that can be used to detect the position of thesource of the echo signal.

Process 180 continues next at block 190, where a position of the objectrelative to the first participant is determined based on thecharacteristics of the echo signal. In some embodiments, the angle ofreceipt and the time-of-flight value are used to determine anapproximate distance and angle of the object from the first participant,which can provide an estimated position of the object relative to thefirst participant.

Process 180, proceeds to decision block 192, where a determination ismade whether the first participant has received positional and kinematicinformation from a second participant. As mentioned above, otherparticipants that are in line-of-sight of the first participant are alsotransmitting notification signals with their identity, position, andkinematic information. If the first participant has received positionaland kinematic information from a second participant, then process 180flows to block 196; otherwise, process 180 flows to block 194.

At block 196, the position of the second participant relative to thefirst participant is determined based on the received positional andkinematic information from the second participant. In some embodiments,the received position of the second participant is defined by GPScoordinates, which are compared to the GPS coordinates of the firstparticipant to determine the relative position of the second participantto the first participant. In other embodiments, the position of thesecond participant can be calculated based on first and secondparticipants' locations relative to one or more stationary participantsor other mobile participants (e.g., storefronts and airports).

Process 180 continues next at decision block 198, where a determinationis made whether the position of the second participant is analogous tothe position of the object determined at block 190. In variousembodiments, the relative position of the second participant determinedat block 196 is compared to the relative position of the objectdetermined at block 190. If the difference between these two positionsfall below a predetermined threshold value, then the positions of theobject and the second participant can be considered to be analogous eventhough they are not identical. If the positions of the secondparticipant and the object are analogous, then process 180 flows toblock 200; otherwise, process 180 flows to block 194.

At block 200 the object is identified as the second participant.Accordingly, that object is a participant object and the firstparticipant will receive tracking updates from the second participant asthe second participant sends additional notification signals. Afterblock 200, process 180 terminates or otherwise returns to a callingprocess to perform additional actions.

If, at decision block 192, the first participant has not receivedpositional and kinematic information from a second participant or if, atdecision block 198, the position of the second participant is notanalogous to the position of the object, then process 180 flows fromdecision blocks 192 and 198 to block 194. At block 194, the object isidentified as a non-participant. Accordingly, the first participant doesnot receive notification signals from the object and continues to trackthe object by monitoring the echo signals received from the object whensending its own notification signals.

After block 200, process 180 terminates or otherwise returns to acalling process to perform additional actions.

FIG. 8 illustrates a logical flow diagram showing one embodiment of aprocess for dynamically modifying an accuracy of atracked-non-participant object in the safety net in accordance withembodiments described herein. Process 210 begins, after a start block,at block 212, where a position of a non-participant relative to a firstparticipant and its accuracy are determined. In various embodiments, theposition of the non-participant is determined at blocks 190 and 194 inFIG. 7.

In some embodiments, the accuracy of the position is determined based onthe type of notification signal transmission and the hardware thatreceives the echo signal off the non-participant object. For example, insome embodiments, the notification signal is transmitted and the echosignal scanned in 360 degrees (shown in FIG. 4A). In other embodiments,the notification signal is transmitted using directional broadcasts andthe echo signal is received using directional scanning (shown in FIG.5A).

In some other embodiments, the accuracy is determined or improved basedon a plurality of positional determinations over a period of time. Forexample, as the first participant moves (or as the non-participantobject moves) changes in the characteristics of the echo signal can beused to narrow or improve the accuracy of the determined position of thenon-participant.

Process 210 proceeds to block 214, where a rate of updating thenon-participant position is determined based on the determined positionand accuracy. The rate of updating the non-participant position, alsoreferred to as the update rate, is the timing of how often the firstparticipant transmits notification signals and scans for the echo signaloff the non-participant object. In one non-limiting example, the updaterate may be to update the position of the non-participant once everysecond, although other update rates may also be used.

In some embodiments, the update rate is set based on a distance andvelocity of closure between the non-participant and the firstparticipant. In other embodiments, the update rate is set based onspeed, direction of travel, and anticipated undetected object speed andtrajectory. For example, an aircraft flying at 1,500 meters of altitudein unrestricted airspace may assume that other aircraft could beapproaching at similar speeds as their aircraft capability with a bufferfor safety. While the same aircraft in restricted or a militaryoperating area would use a speed estimation much higher based on thetype of aircraft it may have to deconflict from (i.e., avoid or trackfor a collision threat). As another example, automobiles would havedifferent update rates in neighborhoods vs highways vs interstatesbecause of the speed, distance, and type of objects that may beencountered.

In various scenarios, the first participant may send additionalnotification signals but not scan for the echo signal, except asdetermined by the update rate. For example, the first participant maysend 10 notification signals every second, but it may only scan for theecho signal from one of those 10 notification signals.

Process 210 continues at decision block 216, where a determination ismade whether the accuracy of the position is above a predeterminedthreshold value. Such a determination is made by comparing the accuracyto the predetermined threshold value. If the position accuracy is abovethe threshold value, process 210 flows to decision block 230; otherwise,process 210 flows to block 218.

At block 218, at least one other participant that can communicate withthe first participant is identified. In various embodiments, these otherparticipants are identified by the first participant because the firstparticipant had previously received notification signals from the otherparticipants.

In some embodiments, the first participant may choose to identify thoseparticipants that are in the first participant's safety net. In otherembodiments, the first participant may choose to identify thoseparticipants that are in a similar area as the object based on acomparison of the estimated position of the object and the positionalinformation received from the other participants via the notificationsignals.

Process 210 proceeds to block 220, where the first participant requestspositional information for the non-participant object from at least oneother participant. In at least one embodiment, the first participantsends a targeted message to the other identified participants requestingadditional positional information for the non-participant. Then at leastone other participant returns position information of thenon-participant (e.g., relative to that corresponding other participant)to the first participant.

As discussed herein, participants are constantly sending notificationsignals to self-report and track non-participant objects that are withintheir safety net. If the other participants are already tracking thesame non-participant as the first participant, then the otherparticipants send the positional information they have previouslydetermined for the non-participant. If the other participants are notalready tracking the same non-participant, then they can performembodiments described herein to determine an approximate position of thenon-participant by using its broadcasted notification signals.

In some embodiments, participants may automatically share the positionof non-participant objects with its nearest predetermined number ofother participants.

Process 210 continues at block 222, where an updated position of thenon-participant is determined based on the received positioninformation. The first participant performs various triangulationtechniques with the position information it received from the otherparticipants and the position information it had previously determinedat block 212 to determine a more accurate position of thenon-participant object.

Process 210 proceeds next to block 224, where an updated positionaccuracy for the non-participant is determined based on the updatedposition of the non-participant. In various embodiments, the updatedposition accuracy is determined based on the number of otherparticipants that provided positional information for thenon-participant object. In other embodiments, the updated positionaccuracy is determined based on the position of the other participantsrelative to the approximate position of the non-participant and theposition of the first participant. For example, if each of the otherparticipants is in very close proximity to the first participant and thenon-participant is some distance away, the accuracy of the determinedposition of the non-participant may not greatly improve. But if thefirst participant and the other participants are positioned around thenon-participant object, such as in a triangular fashion, then theaccuracy will greatly improve.

Process 210 continues next at decision block 226, where a determinationis made whether the updated position accuracy is above the thresholdvalue. In various embodiments, the updated position accuracy is comparedto the threshold value to determine if it is above or below thethreshold value. If the updated position accuracy for thenon-participant is above the threshold value, then process 210 flows toblock 228; otherwise, process 210 flows to block 230.

At block 228, the rate of updating the position of the non-participantis reduced. For example, if the update rate was previously once everysecond, then it may be reduced to once every two seconds. In variousembodiments, the amount to reduce the update rate may be a fixed amountor it may be dependent on the accuracy of the position of thenon-participant—the higher the accuracy, the greater the reduction inthe update rate.

In various embodiments, the update rate may be reduced to a minimumthreshold level to save computing resources. For example, if the firstparticipant is operating on battery power or the battery power is belowa threshold level, then the update rate may be reduced to the minimumthreshold to conserve battery power. In another example, the firstparticipant may be tracking other objects at a higher update rate andmay need the sensor time and processing power to properly track theother objects. Thus, reducing the update rate to a minimum thresholdlevel frees sensor time and processing power for the first participantto update the position of other objects. In yet other embodiments, thefirst participant may reduce the update rate to the minimum threshold tofree up processing power and antenna utilization to transmit data orother communications.

After block 228, process 210 proceeds to decision block 232.

If, at decision block 226, the updated position accuracy is not abovethe threshold value, then process 210 flows from decision block 226 toblock 230. At block 230, the rate of updating the position of thenon-participant is increased. For example, if the update rate waspreviously once every second, then it may be increased to twice everysecond. In various embodiments, the amount to increase the update ratemay be a fixed amount or it may be dependent on the accuracy of theposition of the non-participant—the lower the accuracy, the greater theincrease in the update rate. Additional details of how the firstparticipant may increase the update rate are discussed below inconjunction with FIG. 10. After block 228, process 210 proceeds todecision block 232.

At decision block 232, a determination is made whether to update theposition of the non-participant based on the update rate. In variousembodiments, this determination is based on the update rate and a timerfrom the last position update. If the position of the non-participant isto be updated, process 210 loops to block 212 to determine a newposition of the non-participant and a new position accuracy of thatposition; otherwise, process 210 loops to decision block 230 to continueto wait to update the position of the non-participant device based onthe update rate.

FIG. 9 illustrates a logical flow diagram showing one embodiment of aprocess for dynamically modifying the tracking update of an object inaccordance with embodiments described herein. Process 240 begins, aftera start block, at block 242, where positional and kinematic informationof a first participant is collected. In various embodiments, block 242performs embodiments of block 154 in FIG. 6 to determine the positionaland kinematic information for the first participant.

Process 240 proceeds to block 244 to identify an object. In variousembodiments, block 244 employs embodiments of process 180 in FIG. 7 toidentify either a participant or non-participant object.

Process 240 continues at decision block 246, where a determination ismade whether the object is a second participant or a non-participant.This determination is made based on whether the first participant hasreceived a notification signal from the object, i.e., a participant. Inat least one embodiment, the object is identified at block 194 in FIG. 7as a non-participant and at block 200 as a participant. If the object isa non-participant, process 240 flows to block 248; but if the object isa participant, process 240 flows to block 250.

At block 248, the update rate at which the position of thenon-participant is updated is set to a faster rate. Since the firstparticipant does not receive updates from the non-participant regardingits position and kinematic information, the first participant shouldupdate the position of the non-participant more frequently. Thus, theupdate rate is increased for the non-participant object. In someembodiments, the amount to increase the update rate is predetermined. Inother embodiments, the amount to increase the update rate may be basedon a combined update rate by participants for a non-participant that iscommensurate with the notification update rate a participant has in thesame environment. After block 248, process 240 flows to decision block252.

If, at decision block 246, the object is a second participant, process240 flows from decision block 246 to block 250. At block 250, the updaterate at which the position of the second participant is updated is setto a slower rate. Since the first participant receives accurate updatesfrom the second participant regarding its position and kinematicinformation, the first participant does not need to update the positionof the second participant as often. Thus, the update rate is decreasedfor the second participant object. In some embodiments, the amount todecrease the update rate is predetermined. In various embodiments, thefirst participant will transmit only when needed based on otherparticipants' ability to update their own notifications. If aparticipant can't update fast enough based on system/battery, positionand/or kinematics then the surrounding participants can increase theirupdate rates to increase accuracy or will communicate to the participantto maneuver for safety (e.g., slow down, increase distance, changeheading, etc.). After block 250, process 240 continues at decision block252.

At decision block 252, a determination is made whether to update theposition of the object based on the set update rate. In variousembodiments, decision block 252 employs embodiments of decision block232 to determine when to update the position of the object and when towait. If the position of the object is to be updated, process 240 flowsto block 254; otherwise, process 240 loops to block 252 to continue towait until the next update time.

At block 254, a position and kinematic information of the object isdetermined. In various embodiments, the initial position and kinematicinformation is determined or collected at block 244 when identifying theobject. In various embodiments, block 254 employs embodiments of block156 in FIG. 6 to determine the position and kinematic information of theobject.

Process 240 proceeds to block 256, where a distance and velocity ofclosure between the object and the first participant is determined. Invarious embodiments, the distance between the object and the firstparticipant is determined by comparing the position of the object withthe position of the first participant. Similarly, the velocity ofclosure between the object and the first participant is determined bycomparing the kinematic information of the object with the kinematicinformation of the first participant.

Process 240 continues at block 258, where a relationship between thedistance and the velocity of closure is determined. In variousembodiments, this relationship may be a combination, or weightedcombination, of the distance and the velocity of closure. In at leastsome embodiments, a relationship score may be determined based on thedistance and the velocity of closure. In at least one such embodiment, atable is stored in memory and includes various distances, velocity ofclosures, and a corresponding relationship score.

The following examples illustrate how the relationship score can bedetermined or adjusted based on the distance and velocity of closure.For these examples, assume the object and the first participant aretraveling directly at each other—similar concepts are also employed whenthey are not traveling directly at one another.

Example 1

If the velocity of closure is 10 meters per minute and the distance is 1kilometer, then the relationship score may be a one (assuming arelationship scale of 0 to 10, where 0 indicates that there is no chancethat the object and the first participant will collide and a 10 is avery high chance that the object and the first participant willcollide).

Example 2

But if the velocity of closure is 500 kilometers per hour at the samedistance of 1 kilometer, then the relationship score may be an eight.

Example 3

On the other hand, if the velocity of closure is again 10 meters perminute and the distance is one meter, then the relationship score may bea nine.

These examples provide just a few non-limiting, non-exhaustive examplesof how the relationship between the distance and velocity of closure canbe determined, although other combinations or scores may be determinedto quantize the relationship between the distance and the velocity ofclosure between the object and the first participant.

Process 240 proceeds next to decision block 260, where a determinationis made whether the relationship between the distance and the velocityof closure exceeds a first threshold. In various embodiments, this firstthreshold is set such that relationships that exceed the thresholdindicate that there is a high chance that the object may pose a threatto the first participant in the future. If the relationship between thedistance and the velocity of closure between the object and the firstparticipant exceeds the first threshold, then process 240 flows to block262; otherwise, process 240 flows to decision block 264.

At block 262, the update rate is increased. Since the first thresholdindicates a high chance that the object may pose a threat to the firstparticipant in the future, the first participant is to update theposition of the object at a faster rate to determine if the objectactually poses a threat to the first object. The amount to increase theupdate rate may be a predetermined amount or it may be dependent on howmuch the relationship between the distance and the velocity of closureexceeds the first threshold. Additional details of how the firstparticipant may increase the update rate are discussed below inconjunction with FIG. 10. After block 262, process 240 flows to decisionblock 266.

If, at decision block 260, the relationship between the distance and thevelocity of closure between the object and the first participant doesnot exceed the first threshold, then process 240 flows from decisionblock 260 to decision block 264.

At decision block 264, a determination is made whether the relationshipbetween the distance and the velocity of closure between the object andthe first participant is below a second threshold. In variousembodiments, this second threshold is set such that relationships thatfall below the threshold indicate there is a low chance that the objectmay pose a threat to the first participant in the future. If therelationship between the distance and the velocity of closure betweenthe object and the first participant is below the second threshold, thenprocess 240 flows to block 266; otherwise, process 240 flows to decisionblock 268.

At block 266, the update rate is decreased. Since the second thresholdindicates a low chance that the object may pose a threat to the firstparticipant in the future, the first participant is to update theposition of the object at a slower rate. The amount to decrease theupdate rate may be a predetermined amount or it may be dependent on howmuch the relationship between the distance and the velocity of closureis below the second threshold. After block 266, process 240 flows todecision block 268.

At decision block 268, a determination is made whether the update rateis modified based on other factors. Examples of other types of factorsthat can be used to modify the update rate include crossingtrajectories; type, size, or maneuverability of object; type, size, ormaneuverability of the first participant, environmental conditions(e.g., raining, cloudy, solar flares, etc.), or any combination thereof.For example, if the first participant is highly maneuverable it may needless time to adjust speed or course and, thus, can update the positionof a tracked object at a slower rate, as compared to if it were lessmaneuverable; conversely, if the tracked objects is highly maneuverable,then the first participant may update the position of the tracked objectat a higher rate because the position and course of the tracked objectmay rapidly change and pose a threat to the first participant. Moreover,if environmental conditions may slow down the participant or the trackedobject's ability to change speed or course, or may impact the accuracyof tracking the object's position, then the update rate may beincreased. If the update rate is further modified, process 240 flows toblock 270; otherwise, process 240 loops to decision block 252 to updatethe position and kinematic information of the object based on the updaterate.

At block 270, the update rate is further modified. In variousembodiments, a table or database is stored with information as to howmuch to increase or decrease the update rate based on one or moreadditional factors. After block 270, process 240 loops to block 252 toupdate the position and kinematic information of the object based on theupdate rate. By changing the rate at which the position of an object isupdated relative to the relationship between the first participant andthe object based on a combination of the distance, velocity of closure,and angle of intercept, the first participant can better utilizeadditional computing resources to track objects that may pose a higherthreat to the first participant, while using less computing resources totrack objects that probably don't pose a threat to the firstparticipant.

Although FIG. 9 illustrates the use of two thresholds to determinewhether the update rate is increased or decreased, embodiments are notso limited. In other embodiments, a plurality of different increasethresholds may be employed, with each different increase threshold beingassociated with a different amount to increase the update rate. Forexample, if the relationship exceeds a first increase threshold, thenthe update rate may be increased a first amount, but if the relationshipexceeds a second increase threshold, then the update rate may beincreased a second amount that is larger than the first amount.Conversely, a plurality of different decrease thresholds may beemployed, with each different decrease threshold being associated with adifferent amount to decrease the update rate. For example, if therelationship exceeds a first decrease threshold, then the update ratemay be decreased a first amount, but if the relationship exceeds asecond decrease threshold, then the update rate may be decreased asecond amount that is larger than the first amount.

Moreover, the number of thresholds to utilize and the amount to increaseor decrease the update rate may dynamically change be based on thenumber of objects within a predetermined area, the number ofparticipants within a predetermined area, or other factors. The firstparticipant can continue to update the position of objects until eachparticipant is safe from other participants and non-participants oruntil position updates of an object are no longer needed, e.g., when anobject no longer poses a threat to the first participant.

FIG. 10 illustrates a logical flow diagram showing one embodiment of aprocess for increasing an update rate in accordance with embodimentsdescribed herein. Process 272 begins, after a start block, at decisionblock 274, where a determination is made whether a first participant isto increase an update rate for tracking an object. In variousembodiments, this determination may be made at decision block 226 inFIG. 8 or decision block 260 in FIG. 9. If the update rate is to beincrease, process 272 flows to decision block 276; otherwise, process272 terminates or otherwise returns to a calling process.

At decision block 276, a determination is made whether the firstparticipant has the computing resources to increase the update rate. Forexample, if the participant is running on battery power or the batterypower is below a predetermine threshold, then the first participant maynot have the computing resources to increase the update rate. In anotherexample, if the first participant is tracking multiple objects and otherobjects pose a greater threat to the first participant than theparticular object associated with the increased update rate, then thefirst participant may focus its sensor time and processing power ontracking the objects with the greater threat and thus does not have thecomputing resources to increase the update rate for the particularobject. If the first participant has the computing resources to increasethe update rate for the object, then process 272 flows to block 278 toincrease the update rate (e.g., as described above in conjunction withblock 230 in FIG. 8 or block 262 in FIG. 9); otherwise process 272 flowsto decision block 280.

At decision block 280, a determination is made whether otherparticipants are currently reporting to the first participant thepositioning information for the object. If there are other participantsreporting the positioning information to the first participant, thenprocess 272 flows to block 282; otherwise, process 272 flows to decisionblock 284.

At block 282, the first participant instructs the other participants toincrease the rate at which they report the positioning information forthe object to the first participant. In some embodiments, the otherparticipants may increase the rate at which they broadcast notificationsignals to determine the position of the object, such as discussedherein. In other embodiments, the other participants may already bedetermining the positioning information for the object at a higher rate,but may not be reporting it as often. Thus, the other participants mayincrease the rate at which they report the positioning information forthe object to the first participant. After block 282, process 272terminates or otherwise returns to a calling process.

If there are no other participants currently reporting the positioninginformation for the object (or if not enough other participants arereporting), then process 272 flows from decision block 280 to decisionblock 284. At decision block 284, a determination is made whether thereare other participants within line-of-sight of the first participant andthe object, such that those other participants can determine and reportthe positioning information for the object. If other participants candetermine and report the positioning information, then process 272 flowsto block 286 to instruct the other participants to determine and reportthe positioning information for the object to the first participant atthe increased update rate; otherwise, process 272 terminates orotherwise returns to a calling process.

FIG. 11 shows a system diagram that describes one implementation ofcomputing systems for implementing embodiments described herein. System300 includes mobile participant computing device(s) 32, stationaryparticipant computing device(s) 34, and network operation center server40.

Mobile participant computing device(s) 32 communicate with one or moreother mobile participant computing devices 32 and stationary participantcomputing devices 34 via line-of-sight communications to track objectsand to transmit information or data to other participants. One or morespecial-purpose computing systems may be used to implement each mobileparticipant computing device 32. Accordingly, various embodimentsdescribed herein may be implemented in software, hardware, firmware, orin some combination thereof. A mobile participant computing device 32may include memory 371, one or more central processing units (CPUs) 384,display 386, I/O interfaces 388, other computer-readable media 390,network connections 392, transceiver 396, motion sensors 398, and motioncontrols 378.

Memory 371 may include one or more various types of non-volatile and/orvolatile storage technologies. Examples of memory 371 may include, butare not limited to, flash memory, hard disk drives, optical drives,solid-state drives, various types of random access memory (RAM), varioustypes of read-only memory (ROM), other computer-readable storage media(also referred to as processor-readable storage media), or the like, orany combination thereof. Memory 371 may be utilized to storeinformation, including computer-readable instructions that are utilizedby CPU 384 to perform actions, including embodiments described herein.

Memory 371 may have stored thereon ad-hoc-mesh-network system 372, whichincludes object-tracking module 374 and data-traffic-manager module 376.The object-tracking module 374 may employ embodiments described hereinto track objects, including other participants and non-participant, andto take action to reduce a threat posed by an object. Thedata-traffic-manager module 376 may employ embodiments described hereinto transfer data from one participant to another participant.

Although object-tracking module 374 and data-traffic-manager module 376are shown as separate modules, embodiments are not so limited. Rather, asingle module or a plurality of additional modules may be utilized toperform the functionality of object-tracking module 374 anddata-traffic-manager module 376.

The memory 371 may also store other programs 380 and other data 382. Theother programs 380 may include user applications, other tracking orgeo-positioning programs, etc. The other data 382 may include data orinformation regarding one or more tracked objects, data or informationregarding participants that are within line-of-sight of the mobileparticipant computing device 32, or other information.

Network connections 392 are configured to communicate with othercomputing devices, such as other mobile participant computing devices 32and stationary participant computing devices 34 via transceiver 396 andline-of-sight communications mechanisms and technologies. Transceiver396 may be a broadcast-type transceiver that sends and receives radiosignals independent of direction, or transceiver 396 may be adirectional transceiver that sends or receives, or both sends andreceives, radio signals to or from a particular direction relative tothe positioning of the mobile participant computing device 32.

Location and kinematic sensors 398 include one or more sensors that areused to determine the position of the mobile participant computingdevice 32 and the kinematic information of how the mobile participantcomputing device 32 is moving, which is utilized by the object-trackingmodule 374, the data-traffic-manager module 376, or both to performtheir respective functionality. Examples of location and kinematic datasensors 398 include, but are not limited to GPS modules, accelerometers,gyroscopes, or other sensors that can be used to determine the positionand kinematic information of the mobile participant computing device 32.

Motion controls 378 are components that can be used to control aposition or action of the mobile participant computing device 32 or theassociated object hosting the mobile participant computing device 32,which are controlled by the object-tracking module 374 to avoid apotential threat by a tracked object. Examples of motion controls 378include steering adjustment controls or motors, automatic breakingcontrols or motors, audio or visual warning systems, or other types ofcontrols that can be used to adjust the position or movement of themobile participant computing device 32 or to inform a user to adjust theposition or movement of the mobile participant computing device 32.

Other I/O interfaces 388 may include a keyboard, audio interfaces, videointerfaces, or the like. Other computer-readable media 390 may includeother types of stationary or removable computer-readable media, such asremovable flash drives, external hard drives, or the like. Display 386is a display interface that is configured to output images, content, orinformation to a user. Examples of display 386 include, but are notlimited to, LCD screens, LEDs or other lights, or other types of displaydevices.

Stationary participant computing device(s) 34 communicate with mobileparticipant computing devices 32 via line-of-sight communications totransmit information or data to other participants. One or morespecial-purpose computing systems may be used to implement eachstationary participant computing device 34. Accordingly, variousembodiments described herein may be implemented in software, hardware,firmware, or in some combination thereof. A stationary participantcomputing device 34 may include memory 302, one or more centralprocessing units (CPUs) 316, I/O interfaces 322, other computer-readablemedia 314, network connections 318, and transceiver 320.

Memory 302 may include one or more various types of non-volatile and/orvolatile storage technologies. Examples of memory 302 may include, butare not limited to, flash memory, hard disk drives, optical drives,solid-state drives, various types of random access memory (RAM), varioustypes of read-only memory (ROM), other computer-readable storage media(also referred to as processor-readable storage media), or the like, orany combination thereof. Memory 302 may be utilized to storeinformation, including computer-readable instructions that are utilizedby CPU 316 to perform actions, including embodiments described herein.

Memory 302 may have stored thereon ad-hoc-mesh-network system 304, whichincludes data-traffic-manager module 306 and optionally object-trackingmodule 308. The data-traffic-manager module 306 may employ embodimentsdescribed herein to transfer data from one participant to anotherparticipant, similar to data-traffic-manager module 376. In someembodiments, the stationary participant computing device 34 may alsoinclude the object-tracking module 374, which may employ embodimentsdescribed herein to track objects. As described elsewhere herein, somestationary participant computing devices 34 may be used in conjunctionwith one or more mobile participant computing devices 32 to improve theaccuracy of an object's position being tracked by at least one of theone or more mobile participant computing devices 32. The object-trackingmodule 208 may employ embodiments described herein to track objects,including other participants and non-participant, similar toobject-tracking module 374. Although data-traffic-manager module 306 andobject-tracking module 308 are shown as separate modules, embodimentsare not so limited. Rather, a single module or a plurality of additionalmodules may be utilized to perform the functionality ofdata-traffic-manager module 306 and object-tracking module 308. Invarious embodiments, data-traffic-manager module 306 or object-trackingmodule 308, or both, may communicate with network operation centerserver 40 via communication network 52.

The memory 302 may also store other programs 310 and other data 312. Theother data 312 may include data or information regarding one or moretracked objects, data or information regarding participants that arewithin line-of-sight of the stationary participant computing device 34,or other information.

Network connections 318 are configured to communicate with othercomputing devices, such as other stationary participant computingdevices 34 and mobile participant computing devices 32 via transceiver320 and wired or line-of-sight communications mechanisms andtechnologies. Network connections 318 are also configured to communicatewith the network operation center server 40 via communication network52.

Transceiver 320 may be a broadcast-type transceiver that sends andreceives radio signals independent of direction, or transceiver 320 maybe a directional transceiver that sends or receives, or both sends andreceives, radio signals to or from a particular direction relative tothe position of the stationary participant computing device 34.

Other I/O interfaces 314 may include a keyboard, audio interfaces, videointerfaces, or the like. Other computer-readable media 314 may includeother types of stationary or removable computer-readable media, such asremovable flash drives, external hard drives, or the like.

Network operation center server 40 includes one or more computingdevices that store information about the positioning of mobileparticipant computing devices 32 and stationary participant computingdevices 34. The network operation center server 40 may also storeinformation regarding the positioning and movement of non-participantobjects that are reported to it by the mobile participant computingdevices 32 or the stationary participant computing devices 34. Thenetwork operation center server 40 also includes memory, one or moreprocessors, network interfaces and connections, and other computingcomponents similar to mobile participant computing devices 32 andstationary participant computing devices 34, but those components arenot shown here for ease of illustration.

Communication network 52 may include one or more wired or wirelesscommunication networks to transmit data between one stationaryparticipant computing device 34 and another stationary participantcomputing device 34 or with the network operation center server 40.

The various embodiments described above can be combined to providefurther embodiments. These and other changes can be made to theembodiments in light of the above-detailed description. In general, inthe following claims, the terms used should not be construed to limitthe claims to the specific embodiments disclosed in the specificationand the claims, but should be construed to include all possibleembodiments along with the full scope of equivalents to which suchclaims are entitled. Accordingly, the claims are not limited by thedisclosure.

The invention claimed is:
 1. A system, comprising: a first mobileparticipant and a second mobile participant that communicate positionalinformation to each other via line-of-sight communications, eachrespective mobile participant includes: a transmitter that transmitsline-of-sight notification signals having an identity and positionalinformation of the respective mobile participant; a receiver thatreceives line-of-sight notification signals from other mobileparticipants and echo signals from the notification signals transmittedby the respective mobile participant; a memory that stores computerinstructions; and a processor that executes the computer instructions toperform actions, including determining positional and kinematicinformation of the respective mobile participant; transmitting, via thetransmitter, a notification signal that includes an identity of therespective mobile participant and the positional and kinematicinformation of the respective mobile participant; receiving, via thereceiver and from the notification signal bouncing off an object, anecho signal that includes the identity and the positional and kinematicinformation of the respective mobile participant that transmitted thenotification signal; and determining a relative position of the objectto the respective mobile participant based on the echo signal receivedby the respective mobile participant; wherein the processor of the firstmobile participant performs further actions, including: determining anaccuracy of a first relative position of the object determined by thefirst mobile participant; requesting additional positional informationof the object from the second mobile participant when the accuracy isbelow a threshold value; receiving the additional positional informationof the object from the second mobile participant; determining an updatedfirst relative position of the object based on a combination of thereceived additional positional information and the first relativeposition of the object; and providing the updated first relativeposition of the object to the second mobile participant; wherein theprocessor of the second mobile participant performs further actions,including: receiving the request for additional positional informationof the object from the first mobile participant; providing, to the firstmobile participant as the additional positional information of theobject, a second relative position of the object determined by thesecond mobile participant; and receiving the updated first relativeposition of the object from the first mobile participant.
 2. The systemof claim 1, wherein the processor of the first mobile participantperforms further actions, comprising: setting an update rate forupdating the first relative position of the object; determining adistance and a velocity of closure between the object and the firstmobile participant based on the first relative position of the objectand the positional and kinematic information of the first mobileparticipant; modifying the update rate to update the first relativeposition of the object based on a combination of the distance and thevelocity of closure; and updating the first relative position of theobject at the modified update rate.
 3. The system of claim 1, whereinthe processor of the first mobile participant performs further actions,comprising: identifying an update rate for updating the first relativeposition of the object; determining a distance and a velocity of closurefrom the object to the first mobile participant based on the firstrelative position of the object and the positional and kinematicinformation of the first mobile participant; increasing the update rateto update the first relative position of the object at a higher ratewhen a relationship between the distance and the velocity of closureexceeds a first threshold, decreasing the update rate to update thefirst relative position of the object at a lower rate when therelationship between the distance and the velocity of closure exceeds asecond threshold; and updating the first relative position of the objectbased on the update rate by: transmitting, via the transmitter,additional notification signal having the identity and currentpositional and kinematic information of the first mobile participant;receiving, via the receiver and from the additional notification signalsbouncing off the object, additional echo signals having the identity andthe current positional and kinematic information of the first mobileparticipant; and determining an updated first relative position of theobject to the first mobile participant based on the additional echosignals.
 4. The system of claim 1, wherein the processor of the firstmobile participant performs further actions, comprising: setting anupdate rate for updating the first relative position of the object;modifying the update rate to update the first relative position of theobject based on a combination of at least one of the following: adistance between the object and the first mobile participant, a velocityof closure between the object and the first mobile participant, aprobability of crossing trajectories between the object and the firstmobile participant, a maneuverability of the object, a maneuverabilityof the first mobile participant, and one or more environmentalconditions associated with the object and the first mobile participant;and updating the first relative position of the object based on themodified update rate.
 5. The system of claim 4, wherein updating thefirst relative position of the object includes: transmitting, via thetransmitter, additional notification signal having the identity andcurrent positional and kinematic information of the first mobileparticipant; receiving, via the receiver and from the additionalnotification signals bouncing off the object, additional echo signalshaving the identity and the current positional and kinematic informationof the first mobile participant; and determining an updated firstrelative position of the object to the first mobile participant based onthe additional echo signals.
 6. The system of claim 1, wherein the firstrelative position of the object includes physical location informationand kinematic information for the object.
 7. The system of claim 1,wherein the processor of the first mobile participant performs furtheractions, comprising: determining an updated accuracy of the updatedfirst relative position of the object; increasing the update rate whenthe updated accuracy is below the threshold value; decreasing the updaterate when the updated accuracy is above the threshold value; andupdating the first relative position of the object based on the updaterate.
 8. The system of claim 1, wherein the processor of the firstmobile participant performs further actions, comprising: performing anaction based on the first relative position of the object with respectto the positional and kinematic information of the first mobileparticipant.
 9. The system of claim 1, wherein determining the relativeposition of the object to the respective mobile participant includes:identifying a time-of-flight value from sending the notification signalto receiving the echo signal; identifying an angle-of-arrival value ofthe echo signal; and determining the relative position of the objectrelative to the respective mobile participant based on thetime-of-flight value and the angle-of-arrival value.